Control method of snow removing robot and snow removing robot
By acquiring snow volume parameters of the work area through snow removal robots, and determining whether snow removal conditions are met based on these parameters, the problem of inaccurate snow volume measurement is solved, and the control accuracy of snow removal robots and user experience are improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- POSITEC POWER TOOLS (SUZHOU) CO LTD
- Filing Date
- 2024-12-30
- Publication Date
- 2026-06-30
Smart Images
Figure CN122308352A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of snow removal robot technology, and in particular to a control method for a snow removal robot and a snow removal robot. Background Technology
[0002] Currently, in areas with heavy snowfall, residents often need to clear snow while it is snowing to make it easier to travel. However, due to the cold weather and slippery ground, residents are in danger when they go out to clear snow.
[0003] Snow removal robots can usually replace residents in snow removal, but because they are powered by batteries, they cannot stay in the work area for a long time. In order for snow removal robots to work effectively, it is essential to control the snow removal robot to leave the charging station at the appropriate time and carry out snow removal. Summary of the Invention
[0004] Therefore, it is necessary to provide a control method for a snow removal robot and a snow removal robot in response to the above-mentioned technical problems.
[0005] To achieve the above objectives:
[0006] In a first aspect, embodiments of this disclosure provide a control method for a snow removal robot, the snow removal robot being configured to move and / or work in a work area, the method comprising:
[0007] In response to a probe command, the snow removal robot is controlled to leave a preset position to obtain snow volume parameters of the work area;
[0008] Determine whether the working area meets the snow removal conditions based on the snow volume parameters;
[0009] If the snow removal conditions are met, the snow removal robot is controlled to perform snow removal work in the work area.
[0010] In some possible implementations, controlling the snow removal robot to leave the preset position to obtain snow volume parameters of the work area includes:
[0011] The snow removal robot is controlled to leave the preset position and acquire snow volume parameters of the working area along the first path.
[0012] In some possible implementations, after determining whether the working area meets the snow removal conditions based on the snow volume parameter, the process includes:
[0013] If the snow removal conditions are not met, the snow removal robot is controlled to return to the preset position or wait in place.
[0014] In some possible implementations, after controlling the snow removal robot to return to the preset position or wait in place, the following steps are included:
[0015] In response to the next probe command, the snow removal robot is controlled to obtain snow volume parameters of the working area along the second path;
[0016] In response to the snowfall parameter satisfying the snow removal conditions, the snow removal robot is controlled to perform the snow removal work in the work area.
[0017] In some possible implementations, the first path and the second path have different angles and / or different path lengths.
[0018] In some possible implementations, the endpoint of the first path is the starting point of the second path.
[0019] In some possible implementations, the working area includes a first sub-region and a second sub-region; it also includes:
[0020] The snow removal robot is controlled to leave the preset position and obtain the snow volume parameters of the first sub-region along the third path, wherein the third path is located in the first sub-region;
[0021] Determine whether the first sub-region meets the snow removal conditions based on the snow volume parameters;
[0022] If the snow removal conditions are met, control the snow removal robot to perform the snow removal work in the first sub-area.
[0023] In some possible implementations, after determining whether the first sub-region meets the snow removal conditions based on the snowfall parameter, the following steps are included:
[0024] If the snow removal conditions are not met, the snow removal robot is controlled to obtain the snow volume parameters of the second sub-region along the fourth path, wherein the fourth path is located in the second sub-region.
[0025] In response to the snow volume parameter of the second sub-region satisfying the snow removal conditions, the snow removal robot is controlled to perform the snow removal work in the second sub-region.
[0026] Among the possible implementations are:
[0027] The work area includes a snow-throwing area and a non-snow-throwing area, and the second path is at least partially outside the non-snow-throwing area;
[0028] Control the snow removal robot to throw snow into the snow-throwing area.
[0029] In some possible implementations, the triggering conditions for the probe instruction include at least one of the following:
[0030] The current time has reached the set snow removal countdown time, which is set based on weather information and / or the previously obtained snow thickness in the work area;
[0031] Or, it receives a snow removal probe command sent by the mobile terminal;
[0032] Alternatively, the snowfall prediction parameters sent by the snow condition detection device set in the working area are detected to meet the trial conditions;
[0033] Alternatively, the current accident probability reaches a set accident threshold, wherein the accident probability is determined based on the predicted unit snow depth and temperature.
[0034] In some possible implementations, the preset position is the docking position of the snow removal robot when it is not engaged in snow removal work.
[0035] In some possible implementations, the snowfall parameters include one or more of snow depth, unit weight of snow, and snow cover.
[0036] In some possible implementations, determining whether the working area meets the snow removal conditions based on the snowfall parameter includes:
[0037] The weight of snow per unit area in the working area is determined based on the motor load of the snow removal robot.
[0038] In response to the unit snow weight meeting a weight threshold, the working area is determined to meet snow removal conditions, wherein the unit snow weight is determined based on the snow removal robot's travel distance and the snow weight.
[0039] In some possible implementations, determining whether the working area meets the snow removal conditions based on the snowfall parameter includes:
[0040] Acquire image data of the working area;
[0041] The snow coverage rate is determined based on the image data, wherein the snow coverage rate is obtained based on the area of the working area and the snow-covered area;
[0042] In response to the snow cover rate meeting the coverage threshold, the working area is determined to meet the snow removal conditions.
[0043] In a second aspect, embodiments of this disclosure provide a snow removal robot that moves and / or works in a work area, including:
[0044] The mobile module is configured to drive the snow removal robot to move.
[0045] The snow removal module is configured to perform snow removal probes and snow removal operations;
[0046] The processor is configured as follows:
[0047] In response to a probe command, the mobile module is controlled to drive the snow removal robot away from the preset position to obtain snow volume parameters of the work area;
[0048] Determine whether the working area meets the snow removal conditions based on the snow volume parameters;
[0049] If the snow removal conditions are met, the snow removal module is controlled to perform snow removal work in the working area.
[0050] Thirdly, embodiments of this disclosure provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.
[0051] The snow removal robot control method and snow removal robot provided in this embodiment obtain snow volume parameters of the working area through the snow removal robot, and when it is determined that the working area meets the snow removal conditions based on the snow volume parameters, the snow removal robot is controlled to perform snow removal work in the working area. This enables accurate measurement of snow volume parameters of the working area, thereby accurately controlling the snow removal robot to perform snow removal work in the working area and improving the user experience. Attached Figure Description
[0052] Figure 1 A system diagram of a control method for a snow removal robot;
[0053] Figure 2 A flowchart illustrating the control method for a snow removal robot provided in an embodiment of the present invention. Figure 1 ;
[0054] Figure 3 This is a schematic diagram of the working area in an embodiment of the present invention. Figure 1 ;
[0055] Figure 4 This is a schematic diagram of the working area in an embodiment of the present invention. Figure 2 ;
[0056] Figure 5 This is a schematic diagram of the working area in an embodiment of the present invention. Figure 3 ;
[0057] Figure 6 This is a schematic diagram of the working area in an embodiment of the present invention. Figure 4 ;
[0058] Figure 7 A flowchart illustrating the control method for a snow removal robot provided in an embodiment of the present invention. Figure 2 ;
[0059] Figure 8 This is a schematic diagram of the working area in an embodiment of the present invention. Figure 5 ;
[0060] Figure 9 This is a schematic diagram of the structure of a snow removal robot provided in an embodiment of the present invention;
[0061] Figure 10 This is a preferred schematic diagram provided for an embodiment of the present invention.
[0062] Figure label:
[0063] 1. Snow removal robot;
[0064] 2. Work area;
[0065] 3. Charging stations;
[0066] 4. Target path;
[0067] 91. Mobile module;
[0068] 92. Snow removal module;
[0069] 93. Processor. Detailed Implementation
[0070] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.
[0071] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, components, features, and elements with the same names in different embodiments of this disclosure may have the same meaning or different meanings, the specific meaning of which must be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.
[0072] It is understood that although the terms first, second, third, etc., may be used herein to describe various information, this information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this document, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if," as used herein, can be interpreted as "when," "when," or "in response to determination." Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to also include the plural forms unless the context indicates otherwise. It can be further understood that the terms "comprising," "including," indicate the presence of a feature, step, operation, element, component, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" as used herein are interpreted as inclusive, or mean any one or any combination thereof. Therefore, "A, B, or C" or "A, B, and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C". Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.
[0073] It should be understood that although the steps in the flowcharts of the embodiments of this disclosure are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.
[0074] It should be noted that step designations such as S101 and S102 are used in this document for the purpose of more clearly and concisely describing the corresponding content, and do not constitute a substantial restriction on the order. In specific implementation, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the protection scope of this disclosure.
[0075] It is understood that the specific embodiments described herein are merely illustrative of this disclosure and are not intended to limit this disclosure.
[0076] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.
[0077] In this disclosure, the snow removal robot may include at least one of the following: a snow blowing robot, a snow shovel robot, a salt spreading robot, and a snow sweeping robot.
[0078] Before performing snow removal work, snow removal robots need to probe the snow depth. When the snow depth exceeds a certain value, such as a preset snow depth threshold, the snow removal robot is controlled to begin snow removal. One method of snow probe is non-contact snow removal. For example, the snow removal robot can obtain snowfall predictions from weather forecasts via a network, such as blizzard, heavy snow, moderate snow, or light snow. Then, starting from the time the snowfall is predicted to begin, the robot calculates the current snow depth by combining the snowfall amount with the time. If the calculated snow depth exceeds the snow depth threshold, the snow removal robot is controlled to perform snow removal operations.
[0079] While this method allows the snow removal robot to test the waters before it begins snow removal, since the robot does not actually come into contact with the snow, there is a possibility of missed detections or snow removal occurring when it is not needed, thus wasting the robot's resources.
[0080] Therefore, existing technologies suffer from inaccurate snow thickness measurements in the work area.
[0081] like Figure 1 This disclosure provides an overall system diagram of a control method for a snow removal robot, including a snow removal robot 1, a working area 2, a charging station 3, and a target path 4. For example... Figure 9 This disclosure provides a snow removal robot, which includes a mobile module 91, a snow removal module 92, and a processor 93.
[0082] In this disclosure, the mobile module 91 drives the snow removal robot 1 to move and / or dock within the work area 2. When the snow removal robot 1 needs to work in the work area, the processor 93 controls the snow removal module 92 to start. In the snow removal robot's paused or charging mode, the processor 93 controls the mobile module 91 to start, driving the snow removal robot 1 to the charging station 3 and docking there. In the snow removal robot's working mode, the processor 93 controls the snow removal module 92 to start, and also controls the mobile module 91 to start, driving the snow removal robot 1 to work within the work area 2. When a user or the robot itself triggers a probe command, the processor 93 responds to the probe command and controls the mobile module 91 to start, driving the snow removal robot 1 to detach from the charging station 3 and move along the target path 4. During the movement, the processor 93 controls the snow removal module 92 to start collecting snow on the target path 4, and determines whether the snow removal conditions are met based on the collected snow. Through the overall system of this disclosure, the snow removal robot can accurately obtain snow volume parameters in the work area, thereby performing snow removal work and improving the user experience. In the disclosed information, the mobile module 91 includes wheels, tracks, chains, or bionic feet, while the snow removal module 92 includes a bucket, snow sweeper, snow sweeper cage, scraper, snow compactor, hot melt snow removal head, snow suction head, and snow blowing head.
[0083] like Figure 2 As shown, this disclosure proposes a control method for a snow removal robot. It should be noted that although this disclosure provides method operation steps as illustrated in the following embodiments or figures, the method may include more or fewer operation steps based on conventional or non-inventive methods. For steps that do not logically have a necessary causal relationship, the execution order of these steps is not limited to the execution order provided in the embodiments of this disclosure.
[0084] See Figure 2 This embodiment provides a control method for a snow removal robot. This method can be executed by a control device for the snow removal robot, which can be implemented using software and / or hardware. In this embodiment, the execution subject of the method is a snow removal robot, and the self-moving device is configured to move and / or work in the work area. The method provided in this embodiment includes:
[0085] Step S101: In response to the probe command, control the snow removal robot to leave the preset position to obtain the snow volume parameters of the working area.
[0086] The probing command instructs the snow removal robot to leave its preset location to obtain snowfall parameters for the work area. The probing command can be time-based, specifically determined by the amount of snowfall. The trigger interval is set between the current time and the previous trigger time, with shorter intervals for heavier snowfall. Alternatively, the trigger interval can be determined by considering the ambient temperature. For example, lower temperatures increase the likelihood of snow melting, allowing for a shorter trigger interval.
[0087] In one possible implementation, the triggering conditions for the probe instruction include at least one of the following:
[0088] The current time has reached the set snow removal countdown time, which is set based on weather information and / or the snow depth of the work area obtained last time.
[0089] Or, it receives a snow removal probe command sent by the mobile terminal;
[0090] Alternatively, the snowfall prediction parameters sent by the snow condition detection device set in the work area are detected to meet the trial conditions;
[0091] Alternatively, the current accident probability reaches the set accident threshold, where the accident probability is determined based on the predicted unit snow depth and temperature.
[0092] The snow removal countdown timer can be set based on weather information such as weather forecasts. Specifically, the weather information provides the snowfall time and corresponding snowfall amount, which can then be combined to determine the snow removal countdown time. Different snowfall amounts correspond to different snow removal countdown times to ensure timely snow removal operations in the work area. For example, if the weather forecast indicates heavy snowfall starting at 8:00 PM, the snow removal countdown timer can be set to 8:30 PM; if the forecast indicates light snowfall starting at 8:00 PM, the countdown timer can be set to 9:30 PM, and so on. Alternatively, the snow removal countdown timer can be set based on the previously obtained snow depth in the work area. The thicker the previously obtained snow depth, the shorter the corresponding snow removal countdown timer can be, ensuring timely snow removal operations in the work area. For example, assuming the last snow depth measurement for the work area was at 8:00 PM, if the snow depth was 2 cm, the snow removal countdown timer could be set to 8:40 PM; if the snow depth was 3 cm, it could be set to 8:30 PM, and so on. The snow removal countdown timer can also be set based on weather information and the last measured snow depth. For instance, if the snow depth was 2 cm at 8:00 PM, and weather information indicates heavy snowfall will begin at 8:00 PM, the snow removal countdown timer could be set to 8:20 PM, and so on.
[0093] Once the snow removal robot has established a communication connection with the mobile terminal, the user can send a snow removal probe command to the snow removal robot through the mobile terminal, so that the snow removal robot can receive the snow removal probe command accordingly.
[0094] In cases where a snow condition detection device is installed in the work area, the snow removal robot can establish a communication connection with the device to receive snowfall prediction parameters in real time, periodically, or intermittently. When the snowfall prediction parameters meet the trial conditions, the robot generates a trial command. The snowfall prediction parameters indicate the current predicted snow thickness in the work area. Meeting the trial conditions means the predicted snow thickness is greater than or equal to a preset thickness threshold, such as a predicted snow thickness greater than or equal to 5 cm or 10 cm.
[0095] In this embodiment, multiple different snow thickness ranges and temperature ranges can be preset. Each snow thickness range corresponds to a first coefficient value; the greater the snow thickness within a range, the larger the first coefficient value. Similarly, multiple different temperature ranges are also preset, each corresponding to a second coefficient value; the higher the temperature within a range, the larger the second coefficient value. The product of the first and second coefficient values is used as the accident probability. Furthermore, by obtaining the predicted snow thickness per unit area and temperature information from the weather forecast for the work area, the current accident probability within the work area can be determined based on the snow thickness range corresponding to the predicted snow thickness per unit area and the corresponding temperature range.
[0096] Specifically, when temperatures are high and snow depth is thin (i.e., a mixture of ice and snow), the ground is more slippery, increasing the probability of accidents. Conversely, when temperatures are low and snow depth is thick (i.e., pure snow), the ground is less slippery, decreasing the probability of accidents. For example, with the same snow depth, the probability of an accident at 0 degrees Celsius is higher than at -5 degrees Celsius. It's important to note that when the current accident probability reaches a set threshold, a probe command is triggered to control the snow removal robot to leave its preset position and obtain snow volume parameters for the work area. This ensures that when the work area meets snow removal conditions, the snow removal robot can be promptly controlled to perform snow removal work, effectively preventing pedestrians from slipping and falling, thus improving pedestrian safety.
[0097] The preset location is the docking position of the snow removal robot when it is not engaged in snow removal work, such as a rain shelter, base station, charging station, or cleaning station. The snow volume parameter characterizes relevant information about snow in the work area and may include one or more of snow depth, unit snow weight, and snow cover. Snow depth refers to the thickness of snow at a specific location; unit snow weight refers to the weight of snow per unit area; and snow cover refers to the percentage of the work area covered by snow.
[0098] In some possible implementations, controlling the snow removal robot to leave a preset position to obtain snow volume parameters of the work area includes:
[0099] Control the snow removal robot to leave the preset position and obtain the snow volume parameters of the working area along the first path.
[0100] Specifically, in response to a probe command, the snow removal robot can be controlled to leave a preset position and obtain snow volume parameters of the work area from the preset position along a first path.
[0101] The snow volume parameters of the working area are obtained along the first path. This can be done by collecting the snow volume parameters of the working area intermittently or periodically during the movement along the first path, or by collecting the snow volume parameters of the working area only after moving along the first path and reaching the end of the first path. The first path can be pre-planned or automatically planned by the snow removal robot, and no specific limitation is made here.
[0102] Step S102: Determine whether the working area meets the snow removal conditions based on the snow volume parameters.
[0103] Specifically, after the snow removal robot leaves the preset position and obtains the snow volume parameters of the work area, it checks whether the work area meets the snow removal conditions based on the snow volume parameters to determine whether snow removal work needs to be performed in the work area.
[0104] In some possible implementations, determining whether the work area meets the snow removal conditions based on snowfall parameters includes:
[0105] The weight of snow per unit area in the working area is determined based on the motor load of the snow removal robot;
[0106] In response to the unit snow weight meeting the weight threshold, the working area is determined to meet the snow removal conditions, where the unit snow weight is determined based on the snow removal robot's travel distance and the snow weight.
[0107] The load can include one or more of the following: current, voltage, output power, and the angular velocity of the working head. When the snow volume parameter is the weight per unit of snow accumulation, the snow removal robot needs to control its own motors to process the snow in the working area. Information such as snow weight will affect the motor load; therefore, the weight per unit of snow accumulation in the working area can be determined based on the snow removal robot's motor load. First, the snow weight corresponding to the snow removal robot's motor load can be determined based on the correspondence between the snow removal robot's motor load and the snow weight. Then, given the known working width of the snow removal robot, combined with the robot's moving distance, the moving area of the snow removal robot can be obtained. Finally, based on the snow weight corresponding to the snow removal robot's motor load and the moving area of the snow removal robot, the weight per unit of snow accumulation in the working area can be determined. When the weight per unit of snow accumulation meets a weight threshold (e.g., the weight per unit of snow accumulation is greater than or equal to the weight threshold), it can be determined that the working area meets the snow removal conditions, meaning snow removal work needs to be performed in the working area. The weight threshold can be set according to actual needs. In this way, by determining the unit snow weight in the working area through the motor load of the snow removal robot, the snow volume parameters of the working area can be accurately measured, further improving the accuracy of controlling whether the snow removal robot is performing snow removal work in the working area.
[0108] In some possible implementations, determining whether the work area meets the snow removal conditions based on snowfall parameters includes:
[0109] Acquire image data for the work area;
[0110] Snow cover rate is determined based on image data, where the snow cover rate is obtained from the area of the working area and the snow-covered area;
[0111] In response to the snow cover meeting the coverage threshold, the work area is determined to meet the snow removal conditions.
[0112] The snow removal robot can be equipped with image acquisition devices such as cameras, scanners, lidar, and infrared sensors. This allows it to capture real-time images of the work area as it moves from its designated location to obtain snow volume parameters, thus acquiring image data of the work area. The image data can be acquired either while the snow removal robot is within the work area or outside of it.
[0113] By analyzing the image data of the work area, the snow coverage rate of the work area can be determined. Specifically, the image data of the work area can be input into an image recognition model, which will then perform target recognition on the image data and determine the snow coverage area based on the recognition results output by the image recognition model. The image recognition model can be established using artificial intelligence algorithms such as neural networks or genetic algorithms, combined with image samples; the specific process can refer to existing technologies. Furthermore, the image recognition model in this embodiment can also be an existing image recognition model. Given the area of the work area, the quotient of the snow coverage area and the work area area can be used as the snow coverage rate, which can be used to characterize the extent of snow cover in the work area.
[0114] Specifically, when the snow cover meets a threshold (e.g., the snow cover is greater than or equal to the threshold), the work area is deemed to meet the snow removal conditions, meaning snow removal work needs to be performed in the work area. The snow cover threshold can be set according to actual needs, such as 0.8 or 0.9. Furthermore, energy wave data of the work area can be acquired, and the snow cover can be determined based on this data. Energy waves are data reflected from laser or ultrasonic waves. Thus, determining the snow cover of the work area using image data enables accurate measurement of snow volume parameters in the work area, further improving the accuracy of controlling whether the snow removal robot is performing snow removal work in the work area.
[0115] Step S103: If the snow removal conditions are met, control the snow removal robot to perform snow removal work in the work area.
[0116] Specifically, when the snow removal robot determines that the working area meets the snow removal conditions based on the snow volume parameters, it indicates that snow removal work needs to be performed in the working area, and then controls the snow removal robot to perform snow removal work in the working area.
[0117] In summary, the method provided in the above embodiments uses a snow removal robot to obtain snow volume parameters of the work area, and controls the snow removal robot to perform snow removal work in the work area when it is determined that the work area meets the snow removal conditions based on the snow volume parameters. This enables accurate measurement of snow volume parameters in the work area, thereby accurately controlling the snow removal robot to perform snow removal work in the work area and improving the user experience.
[0118] In some possible implementations, after determining whether the work area meets the snow removal conditions based on snowfall parameters, the following methods are included:
[0119] If the snow removal conditions are not met, the snow removal robot will be controlled to return to the preset position or wait in place.
[0120] Specifically, if the snow volume parameters indicate that the working area does not meet the snow removal conditions, it means that snow removal work is not required in the working area, and the snow removal robot is controlled to return to the preset position or wait in place.
[0121] The preset locations are the docking positions for the snow removal robot when it is not engaged in snow removal work, such as rain shelters, base stations, charging stations, and washing stations. By controlling the snow removal robot to wait in place instead of returning to the preset location, it can directly depart from its current location to obtain the snow volume parameters of the work area upon receiving the next probe command, without having to depart from the preset location to obtain the snow volume parameters of the work area. This effectively shortens the time required to obtain the snow volume parameters of the work area, further improving snow removal efficiency and saving power consumption.
[0122] If the snow depth is initially detected as insufficient for snow removal, and a second measurement is taken at the same location as the first, the snow at that location will have already been cleared, leading to inaccurate subsequent snow depth measurements. This will prevent accurate control over whether the snow removal robot is performing snow removal work within the designated area. For example, ... Figure 1 As shown, during the first snow thickness detection, the snow removal robot starts from the charging station and moves along the target path to position A in the work area. If the snow thickness does not meet the snow removal conditions, it returns to the charging station along the target path. During the second snow thickness detection, the snow removal robot starts from the charging station and moves along the target path to either position B or position A. Since the snow at position A was shoveled away during the first snow thickness detection, while the snow at position B was compacted by the snow removal robot, the snow thickness in the work area cannot be accurately measured at either position B or position A.
[0123] In some possible implementations, after controlling the snow removal robot to return to a preset position or wait in place, the following are included:
[0124] In response to the next probing command, the snow removal robot is controlled to obtain snow volume parameters of the work area along the second path;
[0125] In response to snowfall parameters meeting snow removal conditions, the snow removal robot is controlled to perform snow removal work in the work area.
[0126] Specifically, if the snow removal robot receives the next probe instruction, it means that it needs to continue to obtain the snow volume parameters of the working area. Then, the snow removal robot is controlled to obtain the snow volume parameters of the working area along the second path. At the same time, it is checked whether the snow volume parameters meet the snow removal conditions. If the snow volume parameters meet the snow removal conditions, the snow removal robot is controlled to perform snow removal work in the working area. If the snow volume parameters do not meet the snow removal conditions, it waits to receive the next probe instruction, and so on.
[0127] The second path can be pre-planned or automatically planned by the snow removal robot; no specific limitation is made here. The second path differs from the first path in at least part, such as the endpoint of the second path differing from the endpoint of the first path. However, parts of the second and first paths can be the same. In some possible implementations, the first and second paths have different angles and / or different path lengths. In some possible implementations, the endpoint of the first path is the starting point of the second path.
[0128] This method ensures that the trajectory of snow obtained by the current probe command does not overlap with the trajectory of snow obtained by the previous probe command, thus guaranteeing the accuracy of the snow amount obtained.
[0129] For example, taking a preset location as a charging station, see [reference]. Figure 3 and Figure 4 Assume that the snow removal robot responds to a trial command, leaves the charging station, travels along a first path to its endpoint (position C), obtains snow volume parameters for the work area, and if the snow volume parameters determine that the work area does not meet the snow removal conditions, the robot returns to the charging station. After a period of time, the snow removal robot responds to the next trial command, leaves the charging station, travels along a second path to its endpoint (position D), obtains snow volume parameters for the work area, and if the snow volume parameters meet the snow removal conditions, the robot performs snow removal work in the work area. The movement path of the snow removal robot when the angles of the first and second paths are different and do not overlap can be found in [reference needed]. Figure 3 As shown, when the first and second paths have different lengths but overlap, the corresponding movement path of the snow removal robot can be found in [reference needed]. Figure 4 As shown.
[0130] For example, taking a preset location as a charging station, see [reference]. Figure 5 Suppose that the snow removal robot responds to a trial command, leaves the charging station, and travels along a first path to its endpoint, position E, to obtain snow volume parameters for the work area. If the snow volume parameters indicate that the work area does not meet the snow removal conditions, the snow removal robot waits in place. After a period of time, the snow removal robot responds to the next trial command, leaves position E, and travels along a second path to its endpoint, position F, to obtain snow volume parameters for the work area. If the snow volume parameters meet the snow removal conditions, the snow removal robot performs snow removal work in the work area. At this time, the starting point of the second path is the endpoint of the first path.
[0131] In some possible implementations, to prevent the snow removal robot from throwing snow into the test area during the process of acquiring snow volume parameters of the working area, which would cause the snow thickness in the test area to be greater than the actual natural snow thickness and thus lead to inaccurate snow volume parameters of the working area, for ease of explanation, the working area in this disclosure includes a snow-throwing area and a non-snow-throwing area. Of course, in addition to the snow-throwing area and the non-snow-throwing area, it may also include some undetermined areas. The method may also include: controlling the snow removal robot to throw snow into the snow-throwing area; the second path is at least partially not located in the non-snow-throwing area.
[0132] Snow-throwing areas can be pre-designated inside or outside the work area, such as tree pits or ponds within the work area. (See also...) Figure 6 When a snow removal robot acquires snow volume parameters along a first path in its working area, it needs to throw snow. To prevent the snow thickness in the trial area from exceeding the actual natural snow thickness, the robot can be controlled to prevent snow from being thrown into non-snow-throwing areas. Similarly, when the snow removal robot acquires snow volume parameters along a second path in its working area, it also needs to throw snow, and can be controlled to prevent snow from being thrown into non-snow-throwing areas, especially other trial paths. Alternatively, a simpler approach is to design the second path to ensure it is not located, or partially located, within non-snow-throwing areas. However, if the snow removal robot has already acquired snow volume parameters along the first path, it can throw snow into the area along the first path when acquiring snow volume parameters along the second path. Thus, by controlling the snow-throwing area of the snow removal robot, the accuracy of snow volume parameter measurement in the working area is further improved.
[0133] See Figure 7This embodiment provides a control method for a snow removal robot. The method can be executed by a control device for the snow removal robot, which can be implemented in software and / or hardware. In this embodiment, the execution subject of the method is a snow removal robot, and the self-moving device is configured to move and / or work in a working area, which includes a first sub-area and a second sub-area. The method provided in this embodiment includes:
[0134] Step S201: In response to the probe command, control the snow removal robot to leave the preset position and obtain the snow volume parameters of the first sub-region along the third path, the third path being located in the first sub-region.
[0135] In this embodiment, the snow removal robot may include at least one of the following: a snow blowing robot, a snow shovel robot, a salt spreading robot, and a snow sweeping robot.
[0136] The probing command instructs the snow removal robot to leave its preset location to obtain snowfall parameters for the first sub-area. The probing command can be time-based, specifically determined by the amount of snowfall. The trigger interval is set between the current time and the previous trigger time, with a shorter interval for heavier snowfall. Alternatively, the trigger interval can be determined by considering the ambient temperature. For example, lower temperatures increase the likelihood of snow melting, allowing for a shorter trigger interval.
[0137] In some possible implementations, the triggering conditions for the probe instruction include at least one of the following:
[0138] The current time has reached the set snow removal countdown time, which is set based on weather information and / or the snow depth of the first sub-region obtained last time.
[0139] Or, it receives a snow removal probe command sent by the mobile terminal;
[0140] Alternatively, the snowfall prediction parameters sent by the snow condition detection device set in the work area are detected to meet the trial conditions;
[0141] Alternatively, the current accident probability reaches the set accident threshold, where the accident probability is determined based on the predicted unit snow depth and temperature.
[0142] The snow removal countdown timer can be set based on weather information such as weather forecasts. Specifically, the weather information provides the snowfall time and corresponding snowfall amount, which can then be combined to determine the snow removal countdown time. Different snowfall amounts correspond to different snow removal countdown times to ensure timely snow removal operations in the work area. For example, if the weather forecast indicates heavy snowfall starting at 8:00 PM, the snow removal countdown timer can be set to 8:30 PM; if the forecast indicates light snowfall starting at 8:00 PM, the countdown timer can be set to 9:30 PM, and so on. Alternatively, the snow removal countdown timer can be set based on the previously obtained snow thickness in the first sub-area. The thicker the snow thickness in the first sub-area, the shorter the corresponding snow removal countdown time can be, ensuring timely snow removal operations in that sub-area. For example, assuming the last snow depth of the first sub-region was obtained at 8:00 PM, if the snow depth of the first sub-region obtained last time was 2 cm, the snow removal countdown time could be set to 8:40 PM; if the snow depth of the first sub-region obtained last time was 3 cm, the snow removal countdown time could be set to 8:30 PM, and so on. The snow removal countdown time can also be set based on weather information and the last obtained snow depth of the first sub-region. For example, if the snow depth of the first sub-region obtained at 8:00 PM was 2 cm, and the weather information indicates that heavy snow will begin at 8:00 PM, the snow removal countdown time could be set to 8:20 PM, and so on.
[0143] Once the snow removal robot has established a communication connection with the mobile terminal, the user can send a snow removal probe command to the snow removal robot through the mobile terminal, so that the snow removal robot can receive the snow removal probe command accordingly.
[0144] In cases where a snow condition detection device is installed in the work area, the snow removal robot can establish a communication connection with the device to receive snowfall prediction parameters in real time, periodically, or intermittently. When the snowfall prediction parameters meet the trial conditions, the robot generates a trial command. The snowfall prediction parameters indicate the current predicted snow thickness in the work area. Meeting the trial conditions means the predicted snow thickness is greater than or equal to a preset thickness threshold, such as a predicted snow thickness greater than or equal to 5 cm or 10 cm.
[0145] In this embodiment, multiple different snow thickness ranges and temperature ranges can be preset. Each snow thickness range corresponds to a first coefficient value; the greater the snow thickness within a range, the larger the first coefficient value. Similarly, multiple different temperature ranges are also preset, each corresponding to a second coefficient value; the higher the temperature within a range, the larger the second coefficient value. The product of the first and second coefficient values is used as the accident probability. Furthermore, by obtaining the predicted snow thickness per unit area and temperature information from the weather forecast for the work area, the current accident probability within the work area can be determined based on the snow thickness range corresponding to the predicted snow thickness per unit area and the corresponding temperature range.
[0146] Specifically, when temperatures are high and snow depth is thin (i.e., a mixture of ice and snow), the ground is more slippery, increasing the probability of accidents. Conversely, when temperatures are low and snow depth is thick (i.e., pure snow), the ground is less slippery, decreasing the probability of accidents. For example, with the same snow depth, the probability of an accident at 5 degrees Celsius above zero is greater than the probability at 5 degrees Celsius below zero. It should be noted that when the current accident probability reaches a set accident threshold, a trial command is triggered to control the snow removal robot to leave its preset position and obtain snow volume parameters for the first sub-area. This ensures that when the first sub-area meets snow removal conditions, the snow removal robot can be promptly controlled to perform snow removal work in that sub-area, effectively preventing pedestrians from slipping and falling in the work area and improving pedestrian safety.
[0147] The preset location refers to the docking position of the snow removal robot when it is not engaged in snow removal work, such as a rain shelter, base station, charging station, or cleaning station. The snow volume parameter characterizes relevant information about snow in the work area and may include one or more of snow depth, unit snow weight, and snow cover. Snow depth refers to the thickness of snow at a specific location; unit snow weight refers to the weight of snow per unit area; and snow cover refers to the percentage of the sub-region's total area covered by snow.
[0148] The snow volume parameters of the first sub-region are obtained along the third path. This can be done by collecting the snow volume parameters of the first sub-region intermittently or periodically during the movement along the third path, or by collecting the snow volume parameters of the first sub-region only after the robot has moved along the third path and reached its endpoint. The third path can be pre-planned or automatically planned by the snow removal robot; no specific limitations are imposed here.
[0149] Step S202: Determine whether the first sub-region meets the snow removal conditions based on the snow volume parameters.
[0150] Specifically, after the snow removal robot leaves the preset position and obtains the snow volume parameters of the first sub-area, it checks whether the first sub-area meets the snow removal conditions based on the snow volume parameters of the first sub-area in order to determine whether snow removal work needs to be performed in the first sub-area.
[0151] In some possible implementations, determining whether the first sub-region meets the snow removal conditions based on snowfall parameters includes:
[0152] The unit snow weight of the first sub-region is determined based on the motor load of the snow removal robot;
[0153] In response to the unit snow weight meeting the weight threshold, the first sub-region is determined to meet the snow removal conditions, where the unit snow weight is determined based on the snow removal robot's travel distance and the snow weight.
[0154] The load can include one or more of the following: current, voltage, output power, and angular velocity. When the snowfall parameter is the weight per unit of snow, the snow removal robot needs to control its motors to process the snow in the first sub-region. Information such as snow weight will affect the motor load; therefore, the weight per unit of snow in the first sub-region can be determined based on the snow removal robot's motor load. First, the snow weight corresponding to the snow removal robot's motor load can be determined based on the correspondence between the snow removal robot's motor load and the snow weight. Then, given the known working width of the snow removal robot, its moving area can be determined by combining this with the robot's moving distance. Finally, the weight per unit of snow in the first sub-region can be determined based on the snow weight corresponding to the snow removal robot's motor load and the robot's moving area. When the weight per unit of snow meets a weight threshold (e.g., the weight per unit of snow is greater than or equal to the weight threshold), the first sub-region meets the snow removal conditions, meaning snow removal work needs to be performed in the first sub-region. The weight threshold can be set according to actual needs. In this way, by determining the unit snow weight in the first sub-region through the motor load of the snow removal robot, the snow volume parameters of the first sub-region can be accurately measured, further improving the control accuracy of whether the snow removal robot performs snow removal work in the first sub-region.
[0155] In some possible implementations, determining whether the first sub-region meets the snow removal conditions based on snowfall parameters includes:
[0156] Obtain the image data of the first sub-region;
[0157] Snow cover rate is determined based on image data, where the snow cover rate is obtained from the area of the first sub-region and the snow-covered area;
[0158] In response to the snow cover rate meeting the coverage threshold, the first sub-region is determined to meet the snow removal conditions.
[0159] The snow removal robot can be equipped with image acquisition devices such as cameras, scanners, lidar, and infrared sensors. This allows it to capture real-time images of the first sub-region as it moves from its preset location to obtain snow volume parameters, thus acquiring image data of that sub-region. The image data of the first sub-region can be acquired either while the snow removal robot is within or outside the first sub-region.
[0160] By analyzing the image data of the first sub-region, the snow coverage rate of the first sub-region can be determined. Specifically, the image data of the first sub-region can be input into an image recognition model, which will then perform target recognition on the image data of the first sub-region. Based on the recognition results output by the image recognition model, the snow coverage area of the first sub-region can be determined. The image recognition model can be established using artificial intelligence algorithms such as neural networks or genetic algorithms, combined with image samples; the specific process can refer to existing technologies. Furthermore, the image recognition model in this embodiment can also be an existing image recognition model. Given the area of the first sub-region, the quotient of the snow coverage area and the area of the first sub-region can be used as the snow coverage rate, which can be used to characterize the size of the snow cover area in the first sub-region.
[0161] Specifically, when the snow cover meets a threshold (e.g., the snow cover is greater than or equal to the threshold), the first sub-region is determined to meet the snow removal conditions, meaning snow removal work needs to be performed in the first sub-region. The coverage threshold can be set according to actual needs, such as 0.8 or 0.9. Furthermore, energy wave data of the first sub-region can be acquired, and the snow cover can be determined based on this data. The energy wave is data reflected from laser or ultrasound. Thus, determining the snow cover of the first sub-region using image data allows for accurate measurement of snow volume parameters in the first sub-region, further improving the accuracy of controlling whether the snow removal robot should perform snow removal work in the first sub-region.
[0162] Step S203: If the snow removal conditions are met, control the snow removal robot to perform snow removal work in the first sub-area.
[0163] Specifically, when the snow removal robot determines that the first sub-area meets the snow removal conditions based on the snow volume parameters, it indicates that snow removal work needs to be performed in the first sub-area, and then controls the snow removal robot to perform snow removal work in the first sub-area.
[0164] In summary, the method provided in the above embodiments uses a snow removal robot to obtain snow volume parameters of the first sub-region, and controls the snow removal robot to perform snow removal work in the first sub-region when it is determined that the first sub-region meets the snow removal conditions based on the snow volume parameters. This enables accurate measurement of snow volume parameters in the working area, thereby accurately controlling the snow removal robot to perform snow removal work in the working area and improving the user experience.
[0165] If the snow depth is initially detected as insufficient for snow removal, and a second measurement is taken at the same location as the first, the snow at that location will have already been cleared, leading to inaccurate subsequent snow depth measurements. This will prevent accurate control over whether the snow removal robot is performing snow removal work within the designated area. For example, ... Figure 1 As shown, during the first snow thickness detection, the snow removal robot starts from the charging station and moves along the target path to position A in the work area. If the snow thickness does not meet the snow removal conditions, it returns to the charging station along the target path. During the second snow thickness detection, the snow removal robot starts from the charging station and moves along the target path to either position B or position A. Since the snow at position A was shoveled away during the first snow thickness detection, while the snow at position B was compacted by the snow removal robot, the snow thickness in the work area cannot be accurately measured at either position B or position A.
[0166] In some possible implementations, after determining whether the first sub-region meets the snow removal conditions based on the snowfall parameter, the following are included:
[0167] If the snow removal conditions are not met, the snow removal robot is controlled to obtain the snow volume parameters of the second sub-region along the fourth path, which is located in the second sub-region.
[0168] In response to the snow volume parameters of the second sub-region meeting the snow removal conditions, the snow removal robot is controlled to perform snow removal work in the second sub-region.
[0169] Specifically, when the snow removal robot determines that the first sub-region does not meet the snow removal conditions based on the snow volume parameters of the first sub-region, it controls the snow removal robot to obtain the snow volume parameters of the second sub-region along the fourth path, and at the same time detects whether the snow volume parameters of the second sub-region meet the snow removal conditions. When the snow volume parameters of the second sub-region meet the snow removal conditions, it controls the snow removal robot to perform snow removal work in the second sub-region.
[0170] The first and second sub-regions can be non-overlapping sub-regions within the working area, or partially overlapping sub-regions. The fourth path can be pre-planned or automatically planned by the snow removal robot; no specific limitations are imposed here. The snow volume parameters of the second sub-region satisfying the snow removal conditions can be determined based on these parameters. The parameters for satisfying the snow removal conditions in the second sub-region can be the same as those in the first sub-region; please refer to the aforementioned explanation regarding the first sub-region satisfying the snow removal conditions for details.
[0171] This method ensures that the trajectory of snow obtained by the current probe command does not overlap with the trajectory of snow obtained by the previous probe command, thus guaranteeing the accuracy of the snow amount obtained.
[0172] It should be noted that when controlling the snow removal robot to obtain the snow volume parameters of the second sub-region along the fourth path, the snow removal robot can be controlled to move to the starting point of the fourth path first, or the snow removal robot can be controlled to return to the starting point of the third path first, and then the snow removal robot can be controlled to move to the starting point of the fourth path, and then the snow removal robot can be controlled to obtain the snow volume parameters of the second sub-region along the fourth path.
[0173] For example, taking a preset location as a charging station, and the first sub-region and the second sub-region as non-overlapping sub-regions within the working area, see [reference]. Figure 8 In response to the probe command, the snow removal robot is controlled to leave the charging station and move to the starting point a of the third path in the first sub-region. It then obtains the snow volume parameters of the first sub-region along the third path. If the snow volume parameters of the first sub-region indicate that the first sub-region does not meet the snow removal conditions, the robot can first move from the end point b of the third path to the starting point c of the fourth path in the second sub-region. Then, the snow removal robot is controlled to move along the fourth path to the end point d to obtain the snow volume parameters of the second sub-region. When the snow volume parameters of the second sub-region meet the snow removal conditions, the snow removal robot is controlled to perform snow removal work in the second sub-region.
[0174] In some possible implementations, to prevent the snow removal robot from throwing snow into the test area during the process of acquiring snow volume parameters of the working area, causing the snow thickness in the test area to be greater than the actual natural snow thickness, and thus leading to inaccurate snow volume parameters of the working area, the method may also include:
[0175] Control the snow removal robot to throw snow into the first sub-area.
[0176] The snow-throwing area can be pre-defined inside or outside the work area, such as tree pits or ponds within the work area. When the snow removal robot obtains snow volume parameters for the first sub-region along the third path, it needs to throw snow. To prevent the snow thickness in the test area from exceeding the actual natural snow thickness, the snow removal robot must be controlled to avoid throwing snow into non-snow-throwing areas, especially other test paths, including the fourth path. Similarly, when the snow removal robot obtains snow volume parameters for the second sub-region along the fourth path, it also needs to throw snow, again avoiding throwing snow into non-snow-throwing areas, especially other test paths. In this way, by controlling the snow-throwing area of the snow removal robot, the accuracy of snow volume parameter measurement in the work area is further improved.
[0177] Among the possible implementations are:
[0178] If the snow volume parameters of the second sub-region do not meet the snow removal conditions, the snow removal robot is controlled to return to the preset position or wait in place.
[0179] Specifically, if the snow volume parameters in the second sub-region do not meet the snow removal conditions, it means that snow removal work is not required in the second sub-region, and the snow removal robot is controlled to return to the preset position or wait in place.
[0180] The preset locations are the docking positions for the snow removal robot when it is not engaged in snow removal work, such as rain shelters, base stations, charging stations, and washing stations. By controlling the snow removal robot to wait in place instead of returning to the preset locations, it can directly depart from its current location to obtain the snow volume parameters of the first sub-area upon receiving the next probe command, without having to depart from the preset locations to obtain the snow volume parameters of the first sub-area. This effectively shortens the time required to obtain the snow volume parameters of the working area, further improving snow removal efficiency and saving power consumption.
[0181] Based on the same inventive concept as the foregoing embodiments, see [link / reference]. Figure 9 This disclosure provides a snow removal robot configured to move and / or work in a work area, including:
[0182] Mobile module 91 is configured to drive the snow removal robot to move;
[0183] Snow removal module 92 is configured to perform snow removal probe work and snow removal work;
[0184] Processor 93 is configured as follows:
[0185] In response to the probe command, the control module 91 drives the snow removal robot to leave the preset position to obtain the snow volume parameters of the work area;
[0186] Determine whether the work area meets the snow removal requirements based on snow volume parameters;
[0187] If the snow removal conditions are met, the snow removal module 92 is controlled to perform snow removal work in the working area.
[0188] Optionally, the processor 93 is also configured to implement other steps in the control method of the snow removal robot of the above embodiments, which will not be described in detail here.
[0189] In summary, the snow removal robot provided in the above embodiments acquires the snow volume parameters of the working area and controls the snow removal robot to perform snow removal work in the working area when it is determined that the working area meets the snow removal conditions based on the snow volume parameters. This enables accurate measurement of the snow volume parameters of the working area and accurate control of the snow removal robot to perform snow removal work in the working area, thereby improving the user experience.
[0190] like Figure 10 This disclosure provides a preferred schematic diagram, including:
[0191] Step 1001: Determine the snow removal countdown time based on weather information;
[0192] Step 1002: When the set snow removal countdown time is reached at the current time, control the snow removal robot to leave the charging station along the first path to obtain the unit snow weight of the working area;
[0193] Step 1003: Determine whether the weight of the unit snow accumulation is greater than the weight threshold. If it is greater, proceed to step 1004; if it is less, proceed to step 1005.
[0194] Step 1004: Control the snow removal robot to perform snow removal work in the work area;
[0195] Step 1005: Control the snow removal robot to return to the charging station and wait for the snow removal countdown time to be met again;
[0196] Step 1006: When the set snow removal countdown time is reached at the current time, control the snow removal robot to leave the charging station along the second path to obtain the unit snow weight of the working area, and the second path is different from the first path;
[0197] Step 1007: Determine whether the weight of the unit snow accumulation is greater than the weight threshold. If it is greater, proceed to step 1008; if it is less, proceed to step 1009.
[0198] Step 1008: Control the snow removal robot to perform snow removal work in the work area;
[0199] Step 1009: Control the snow removal robot to return to the charging station and repeat steps 1005-1007.
[0200] The snow removal robot acquires the unit snow weight of the working area along a first path. When the unit snow weight exceeds a weight threshold, the robot is controlled to perform snow removal work in the working area; conversely, when the unit snow weight is less than the weight threshold, the robot is controlled to return to the charging station. When the snow removal countdown timer expires again, the robot is controlled to acquire the unit snow weight of the working area along a second path different from the first path. This method enables accurate measurement of the unit snow weight of the working area, and the process of acquiring the unit snow weight in the first step does not affect the process of acquiring the unit snow weight in the subsequent steps.
[0201] Based on the same inventive concept as the foregoing embodiments, this embodiment also provides a computer-readable storage medium storing a computer program. The computer storage medium can be a magnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM), etc.; it can also be various devices including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc. When the computer program stored in the computer storage medium is executed by a processor, it implements the control method for the snow removal robot applied to the aforementioned snow removal robot. For the specific steps implemented when the computer program is executed by the processor, please refer to [link to relevant documentation]. Figure 2 or Figure 7 The description of the illustrated embodiments will not be repeated here.
[0202] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they can be considered to be within the scope of this specification.
[0203] In this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.
[0204] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.
Claims
1. A control method for a snow removal robot, the snow removal robot being configured to move and / or work in a work area, characterized in that, The method includes: In response to a probe command, the snow removal robot is controlled to leave a preset position to obtain snow volume parameters of the work area; Determine whether the working area meets the snow removal conditions based on the snow volume parameters; If the snow removal conditions are met, the snow removal robot is controlled to perform snow removal work in the work area.
2. The method according to claim 1, characterized in that, The process of controlling the snow removal robot to leave the preset position and obtaining snow volume parameters of the work area includes: The snow removal robot is controlled to leave the preset position and acquire snow volume parameters of the working area along the first path.
3. The method according to claim 2, characterized in that, After determining whether the working area meets the snow removal conditions based on the snow volume parameter, the process includes: If the snow removal conditions are not met, the snow removal robot is controlled to return to the preset position or wait in place.
4. The method according to claim 3, characterized in that, After controlling the snow removal robot to return to the preset position or wait in place, the following steps are included: In response to the next probe command, the snow removal robot is controlled to obtain snow volume parameters of the working area along the second path; In response to the snowfall parameter satisfying the snow removal conditions, the snow removal robot is controlled to perform the snow removal work in the work area.
5. The method according to claim 4, characterized in that, The first path and the second path have different angles and / or different path lengths.
6. The method according to claim 4, characterized in that, The end point of the first path is the starting point of the second path.
7. The method according to any one of claims 1-6, characterized in that, The working area includes a first sub-region and a second sub-region; it also includes: The snow removal robot is controlled to leave the preset position and obtain the snow volume parameters of the first sub-region along the third path, wherein the third path is located in the first sub-region; Determine whether the first sub-region meets the snow removal conditions based on the snow volume parameters; If the snow removal conditions are met, control the snow removal robot to perform the snow removal work in the first sub-area.
8. The method according to claim 7, characterized in that, After determining whether the first sub-region meets the snow removal conditions based on the snow volume parameters, the method includes: if the snow removal conditions are not met, controlling the snow removal robot to obtain the snow volume parameters of the second sub-region along a fourth path, wherein the fourth path is located in the second sub-region; In response to the snow volume parameter of the second sub-region satisfying the snow removal conditions, the snow removal robot is controlled to perform the snow removal work in the second sub-region.
9. The method according to claim 4, characterized in that, Also includes: The work area includes a snow-throwing area and a non-snow-throwing area, and the second path is at least partially located outside the non-snow-throwing area; Control the snow removal robot to throw snow into the snow-throwing area.
10. The method according to any one of claims 1-9, characterized in that, The triggering conditions for the probe command include at least one of the following: The current time has reached the set snow removal countdown time, which is set based on weather information and / or the previously obtained snow thickness in the work area; Or, it receives a snow removal probe command sent by the mobile terminal; Alternatively, the snowfall prediction parameters sent by the snow condition detection device set in the working area are detected to meet the trial conditions; Alternatively, the current accident probability reaches a set accident threshold, wherein the accident probability is determined based on the predicted unit snow depth and temperature.
11. The method according to any one of claims 1-10, characterized in that, The preset position is the docking position of the snow removal robot when it is not engaged in snow removal work.
12. The method according to any one of claims 1-11, characterized in that, The snowfall parameters include one or more of snow depth, unit weight of snow, and snow cover.
13. The method according to claim 12, characterized in that, Determining whether the working area meets the snow removal conditions based on the snow volume parameter includes: The weight of snow per unit area in the working area is determined based on the motor load of the snow removal robot. In response to the unit snow weight meeting a weight threshold, the working area is determined to meet snow removal conditions, wherein the unit snow weight is determined based on the snow removal robot's travel distance and the snow weight.
14. The method according to claim 12, characterized in that, Determining whether the working area meets the snow removal conditions based on the snow volume parameter includes: Acquire image data of the working area; The snow coverage rate is determined based on the image data, wherein the snow coverage rate is obtained based on the area of the working area and the snow-covered area; In response to the snow cover rate meeting the coverage threshold, the working area is determined to meet the snow removal conditions.
15. A snow removal robot, characterized in that, The snow removal robot is configured to move and / or work in the work area, including: The mobile module (91) is configured to drive the snow removal robot to move; The snow removal module (92) is configured to perform snow removal probe work and snow removal work; The processor (93) is configured as follows: In response to the probe command, the moving module (91) is controlled to drive the snow removal robot away from the preset position to obtain the snow volume parameters of the working area; Determine whether the working area meets the snow removal conditions based on the snow volume parameters; If the snow removal conditions are met, the snow removal module (92) is controlled to perform snow removal work in the working area.